CN112304288A - Dip angle detector and detection method - Google Patents

Dip angle detector and detection method Download PDF

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Publication number
CN112304288A
CN112304288A CN202011029624.8A CN202011029624A CN112304288A CN 112304288 A CN112304288 A CN 112304288A CN 202011029624 A CN202011029624 A CN 202011029624A CN 112304288 A CN112304288 A CN 112304288A
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tube
laser
photosensitive
tubes
controller
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CN112304288B (en
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徐结海
吴明康
聂子健
蔡纪源
王顺华
李璟
殷家腾
高燕
孙冬
顾斌
张照锋
吴珊珊
汤滟
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Nanjing Vocational College Of Information Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/18—Measuring inclination, e.g. by clinometers, by levels by using liquids
    • G01C9/20—Measuring inclination, e.g. by clinometers, by levels by using liquids the indication being based on the inclination of the surface of a liquid relative to its container
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/02—Details
    • G01C9/06—Electric or photoelectric indication or reading means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L11/00—Measuring steady or quasi-steady pressure of a fluid or a fluent solid material by means not provided for in group G01L7/00 or G01L9/00
    • G01L11/02—Measuring steady or quasi-steady pressure of a fluid or a fluent solid material by means not provided for in group G01L7/00 or G01L9/00 by optical means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/02—Details
    • G01C9/06—Electric or photoelectric indication or reading means
    • G01C2009/066—Electric or photoelectric indication or reading means optical

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention relates to a dip angle detector and a detection method, which are characterized in that: the device comprises a controller and a transparent cylindrical container which is hollow inside and forms a cylindrical cavity, wherein liquid is filled in the cylindrical cavity, and an opaque small round floating body floats on the liquid surface; the outer wall of the cylindrical container is divided into an upper half part and a lower half part, a laser emitting tube for emitting laser is attached to the lower half part, the laser emitting tube axially extends along the lower half part of the outer wall of the cylindrical container to form a laser emitting tube axial array, a photosensitive tube for receiving laser is attached to the upper half part, and the photosensitive tube axially extends along the upper half part of the outer wall of the cylindrical container to form a photosensitive tube axial array; the laser emitting tubes in the laser emitting tube axial array correspond to the photosensitive tubes in the photosensitive tube array; the laser emission tube and the photosensitive tube are electrically connected to the controller, laser emitted by the laser emission tube penetrates through the cylindrical cavity and irradiates the photosensitive tube, the photosensitive tube generates induction current, and the controller reads and calculates the current inclination angle. The invention realizes the inclination angle detection and has high detection precision.

Description

Dip angle detector and detection method
Technical Field
The invention relates to the technical field of angle detection, in particular to an inclination angle detector and a detection method.
Background
Angle or inclination measurement is often required in industrial and agricultural production and service, scientific research and daily life, for example in the fields of equipment installation, machining, building construction and transportation. However, the current angle measuring instrument generally has the defects of low precision or low cost performance, and the invention aims to solve the problem.
Disclosure of Invention
The invention aims to provide a dip angle detector and a detection method, which realize dip angle detection and have high detection precision.
In order to solve the technical problems, the technical scheme of the invention is as follows: a dip angle detector comprises a controller and a transparent cylindrical container which is hollow inside and forms a cylindrical cavity, wherein liquid is filled in the cylindrical cavity, and a non-transparent small round floating body floats on the liquid surface; the outer wall of the cylindrical container is divided into an upper half part and a lower half part, a laser emitting tube for emitting laser is attached to the lower half part, the laser emitting tube axially extends along the lower half part of the outer wall of the cylindrical container to form a laser emitting tube axial array, a photosensitive tube for receiving laser is attached to the upper half part, and the photosensitive tube axially extends along the upper half part of the outer wall of the cylindrical container to form a photosensitive tube axial array; the laser emitting tubes in the laser emitting tube axial array correspond to the photosensitive tubes in the photosensitive tube array; the laser emission tube and the photosensitive tube are electrically connected to the controller, laser emitted by the laser emission tube penetrates through the cylindrical cavity and irradiates the photosensitive tube, the photosensitive tube generates induction current, and the controller reads and calculates the current inclination angle.
According to the scheme, the laser emission tubes are circumferentially distributed in the radial section of the lower half part of the outer wall of the cylindrical container to form an emission tube semi-annular array, and the emission tube semi-annular array axially extends along the lower half part of the outer wall of the cylindrical container; the photosensitive tubes are circumferentially distributed in the radial section of the upper half part of the outer wall of the cylindrical container to form a photosensitive tube semi-annular array, and the photosensitive tube semi-annular array axially extends along the upper half part of the outer wall of the cylindrical container; the inner wall of the lower half part of the cylindrical cavity is pasted with a pressure sensor electrically connected with a controller; the pressure sensors are circumferentially distributed in the radial section of the lower half part of the inner wall of the cylindrical container to form a pressure sensor semi-annular array, and the pressure sensor semi-annular array axially extends along the lower half part of the inner wall of the cylindrical container; the pressure sensor corresponds to the position of the laser emission tube, the pressure sensor is used for detecting the hydraulic pressure of the position of the laser emission tube, outputting a voltage signal, and after being read by the controller, obtaining the vertical height of each laser emission tube in the semi-annular array of the emission tube from the liquid level; by adopting the transmitting tube semi-annular array, the photosensitive tube semi-annular array and the pressure sensor semi-annular array, when the dip angle detector is used for detecting the front and back tilt angles of a measured object, the dip angle detector is axially placed from front to back, even if the measured object swings left and right to cause the dip angle detector, a plane formed by a laser beam transmitted by the laser transmitting tube is always vertical to a liquid level, so that a measuring result is not influenced by left and right swinging, stable detection of the dip angle is realized, and the detection precision is high.
According to the scheme, the laser transmitting tubes are uniformly distributed in the axial array of the laser transmitting tubes, so that the inclination angle can be calculated conveniently.
According to the scheme, the photosensitive tube is a PIN photodiode; the PIN photodiode generates an I-type layer between a P region and an N region in a PN junction between two semiconductors or in a region adjacent to a junction between a semiconductor and a metal, and has the characteristics of small junction capacitance, short transit time and high sensitivity for a photodetector which absorbs light radiation and generates a photocurrent.
According to the scheme, the pressure sensor is a surface mount type diffused silicon pressure sensor; the measurement precision reaches 0.1 level, and the detection performance is stable.
According to the scheme, the liquid is transparent liquid.
According to the scheme, the controller can adopt a single chip microcomputer or an ARM processor.
A dip angle detection method uses the dip angle detector, and the dip angle detection method comprises the following steps:
step 1: the controller controls the laser emitting tube to emit laser to irradiate the light sensing tube, and the light sensing tube generates induction current;
step 2: in the axial array of the laser transmitting tube, the index number of the laser transmitting tube is set to be N, N belongs to {1,2, …, N }, the laser transmitting tubes are distributed axially from front to back according to the index number, and the photosensitive tubes correspond to the laser transmitting tubes; because of the attenuation of the liquid to the light, the output currents of the 1 st to the N-1 st photosensitive tubes are gradually reduced, the output currents of the N th to the N th photosensitive tubes are the minimum and equal, and the photosensitive tube N is a critical photosensitive tube; the controller obtains the dip angle according to the index number of the critical photosensitive tube, and the index number n of the photosensitive tube is in a functional relation with the dip angle theta as shown in the following:
Figure BDA0002703155840000021
d is the distance between adjacent laser emitting tubes; the angle of inclination theta being zeroThe distance between the liquid level and the top of the cylindrical cavity is b0The horizontal width of the cylindrical container is a0。
According to the scheme, the method also comprises the following steps before the step 1: the controller controls the pressure sensors in the pressure sensor semi-annular array to detect the hydraulic pressure of each laser emission tube in the emission tube semi-annular array to obtain the vertical height of each laser emission tube from the liquid level, and controls the laser emission tube at the position with the maximum liquid depth in the emission tube semi-annular array to be in an open state, and the rest of the laser emission tubes are in a closed state.
The invention has the following beneficial effects: the laser emission tube of the tilt angle detector emits laser to penetrate through the cylindrical cavity and irradiate the light sensing tube, the light sensing tube generates induction current, after the induction current is read by the controller, the controller determines a critical light sensing tube according to the induction current value and calculates the current forward tilt angle according to the index number of the critical light sensing tube; simple structure detects the precision height.
Drawings
FIG. 1 is an over-axis cross-sectional view of a liquid level condition when the tilt angle equals zero according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view taken along line P-P of FIG. 1;
FIG. 3 is an axial cross-sectional view of a liquid level condition at an angle of inclination unequal to zero according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating the output levels of the photodiode array when the tilt angle is equal to θ according to an embodiment of the present invention;
fig. 5 is a schematic block diagram of signal transmission of the laser emitting tube, the photosensitive tube, the pressure sensor and the controller in the embodiment of the invention.
Reference numerals:
1. a cylindrical container; 2. a liquid; 3. a laser emitting tube; 4. a light-sensitive tube; 5. a pressure sensor; 6. a controller; 7. a small circular floating body.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 5, the present invention is a tilt angle detector, which includes a controller 6 and a transparent cylindrical container 1 having a hollow interior to form a cylindrical cavity, wherein a transparent liquid 2 is filled in the cylindrical cavity, and a non-transparent small circular floating body 7 floats on a liquid surface; the outer wall of the cylindrical container 1 is divided into an upper half part and a lower half part, a laser emitting tube 3 for emitting laser is attached to the lower half part, the laser emitting tube 3 axially extends along the lower half part of the outer wall of the cylindrical container 1 to form a laser emitting tube axial array, a photosensitive tube 4 for receiving laser is attached to the upper half part, and the photosensitive tube 4 axially extends along the upper half part of the outer wall of the cylindrical container 1 to form a photosensitive tube axial array; the laser emission tube 3 in the laser emission tube axial array corresponds to the photosensitive tube 4 in the photosensitive tube axial array; the laser emission tube 3 and the photosensitive tube 4 are electrically connected to the controller 6, laser emitted by the laser emission tube 3 penetrates through the cylindrical cavity and irradiates the photosensitive tube 4, the photosensitive tube 4 induces a weak current, and the current inclination angle is obtained after the weak current is read and calculated by the controller 6; after the sensitive tube 4 senses the weak current, the weak current can be transmitted to the controller 6 after passing through the existing current-to-voltage conversion circuit, the amplifying circuit and the analog-to-digital conversion circuit in sequence, so that data processing can be conveniently carried out by the controller 6.
With reference to fig. 1 and 2, the laser emitting tubes 3 are circumferentially distributed in the radial section of the lower half of the outer wall of the cylindrical container 1 to form an emitting tube semi-annular array, the emitting tube semi-annular array axially extends along the lower half of the outer wall of the cylindrical container 1, the laser emitting tubes 3 are uniformly distributed in the laser emitting tube axial array, and the distance d is between two laser emitting tubes 3 at the corresponding positions of the two adjacent emitting tube semi-annular arrays; the photosensitive tubes 4 are circumferentially distributed in the radial section of the upper half part of the outer wall of the cylindrical container 1 to form a photosensitive tube semi-annular array, and the photosensitive tube semi-annular array axially extends along the upper half part of the outer wall of the cylindrical container 1; the inner wall of the lower half part of the cylindrical cavity is pasted with a pressure sensor 5 which is electrically connected with a controller 6; the pressure sensors 5 are circumferentially distributed in the radial section of the lower half part of the inner wall of the cylindrical container 1 to form a pressure sensor semi-annular array, and the pressure sensor semi-annular array axially extends along the lower half part of the inner wall of the cylindrical container 1; the pressure sensor semi-annular array is arranged between two adjacent semi-annular arrays of the emission tube, the pressure sensor 5 corresponds to the laser emission tube 3 in position, the pressure sensor 5 is used for detecting the hydraulic pressure of the position where the laser emission tube 3 is located, and the pressure sensor outputs a voltage signal to the controller 6; and the vertical height of each laser emission tube 3 in the emission tube semi-annular array from the liquid level is obtained after the vertical height is read by the controller 6, in the emission tube semi-annular array, the controller 6 controls the laser emission tube 3 at the position with the maximum liquid depth to be in an open state according to hydraulic pressure, and the rest laser emission tubes are in a closed state.
In this embodiment, the photosensitive tube 4 is a PIN photodiode; the pressure sensor 5 is a patch type diffused silicon pressure sensor 5; the controller 6 can adopt a single chip microcomputer or an ARM processor.
The invention also provides an inclination angle detection method, which uses the inclination angle detector and specifically comprises the following steps:
step 1: the controller 6 controls the pressure sensor 5 in the pressure sensor semi-annular array to detect the hydraulic pressure of each laser emission tube 3 in the emission tube semi-annular array to obtain the vertical height of each laser emission tube 3 from the liquid level, the controller 6 controls the laser emission tube 3 at the position of the maximum depth of the liquid 2 in the emission tube semi-annular array to be in an open state, and the rest are in a closed state; the controller 6 controls the laser emitting tube 3 to emit laser, the laser irradiates the light sensing tube 4, and the light sensing tube 4 generates induction current and transmits the induction current to the controller 6; step 2: the controller 6 reads the current and then calculates the current inclination angle theta; the method specifically comprises the following steps:
referring to fig. 1, in the axial array of the laser emitting tubes, the total number of the semi-annular arrays of the emitting tubes is N, the laser emitting tubes in the semi-annular arrays of the emitting tubes are located on the same radial section, and if the index number of the laser emitting tubes along the axial direction is N, N belongs to {1,2, …, N }, the laser emitting tubes are axially distributed from front to back according to the index number, and the photosensitive tubes correspond to the laser emitting tubes; the distance between adjacent laser emitting tubes is d; when the inclination angle theta is zero, the distance between the liquid level and the top of the cylindrical cavity is b0The horizontal width of the cylindrical vessel 1 is a0(ii) a Since the liquid amount remains unchanged, the cross-sectional area of the space in the cylindrical container 1 not occupied by the liquid 2 is constant, and there are:
Figure BDA0002703155840000041
referring to fig. 3, when the inclination angle θ is not equal to zero, due to the attenuation of the liquid 2 to the light, the output currents of the 1 st to N-1 st photosensitive tubes read by the controller 6 gradually decrease, the index N to N-th photosensitive tubes are located below the liquid level, the output currents of the N-th to N-th photosensitive tubes are minimum and substantially equal, and when the output current of the photosensitive tube detected by the controller 6 is minimum and the duration time exceeds a preset time threshold, it may be determined that the current photosensitive tube N is a critical photosensitive tube, and then:
a＝nd (2)
substituting (2) into (1) yields:
Figure BDA0002703155840000042
for a triangular cross-section above the liquid level, there are:
Figure BDA0002703155840000043
therefore, the critical level is expressed as a function of the index n of the photosensitive tube and the tilt angle θ as follows.
Figure BDA0002703155840000044
The foregoing is a more detailed description of the present invention that is presented in conjunction with specific embodiments, and the practice of the invention is not to be considered limited to those descriptions. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.

Claims (9)

1. A tilt angle detector, characterized by: comprises a controller (6) and a transparent cylindrical container (1) which is hollow inside and forms a cylindrical cavity, wherein liquid (2) is filled in the cylindrical cavity, and a non-transparent small round floating body (7) floats on the liquid surface; the outer wall of the cylindrical container (1) is divided into an upper half and a lower half, a laser emitting tube (3) used for emitting laser is attached to the lower half, the laser emitting tube (3) axially extends along the lower half of the outer wall of the cylindrical container (1) to form a laser emitting tube axial array, a photosensitive tube (4) used for receiving laser is attached to the upper half, and the photosensitive tube (4) axially extends along the upper half of the outer wall of the cylindrical container (1) to form a photosensitive tube axial array; the laser emitting tubes (3) in the laser emitting tube axial array correspond to the photosensitive tubes (4) in the photosensitive tube axial array; the laser emission tube (3) and the photosensitive tube (4) are electrically connected to the controller (6), laser emitted by the laser emission tube (3) penetrates through the cylindrical cavity and irradiates the photosensitive tube (4), the photosensitive tube (4) generates induced current, and the controller (6) reads and calculates the induced current to obtain the current inclination angle.
2. The tilt detector of claim 1, wherein: the laser emission tubes (3) are circumferentially distributed in the radial section of the lower half part of the outer wall of the cylindrical container (1) to form an emission tube semi-annular array, and the emission tube semi-annular array axially extends along the lower half part of the outer wall of the cylindrical container (1); the photosensitive tubes (4) are circumferentially distributed in a radial section of the upper half part of the outer wall of the cylindrical container (1) to form a photosensitive tube semi-annular array, and the photosensitive tube semi-annular array axially extends along the upper half part of the outer wall of the cylindrical container (1); a pressure sensor (5) electrically connected to a controller (6) is attached to the inner wall of the lower half part of the cylindrical cavity; the pressure sensors (5) are circumferentially distributed in the radial section of the lower half part of the inner wall of the cylindrical container (1) to form a pressure sensor semi-annular array, and the pressure sensor semi-annular array axially extends along the lower half part of the inner wall of the cylindrical container (1); the pressure sensor (5) corresponds to the laser emitting tube (3), the pressure sensor (5) is used for detecting the hydraulic pressure of the position where the laser emitting tube (3) is located, the pressure sensor outputs a voltage signal, the vertical height of each laser emitting tube (3) in the semi-annular array of the emitting tube from the liquid level is obtained after the voltage signal is read by the controller (6), in the semi-annular array of the emitting tube, the controller (6) controls the laser emitting tube (3) at the position with the maximum liquid depth to be in an opening state according to the hydraulic pressure, and the rest of the laser emitting tubes are in a closing state.
3. The tilt detector of claim 1, wherein: the laser emitting tubes (3) are uniformly distributed in the axial array of the laser emitting tubes.
4. The tilt detector of claim 1, wherein: the photosensitive tube (4) is a PIN photodiode.
5. The tilt detector of claim 2, wherein: the pressure sensor (5) is a patch type diffused silicon pressure sensor.
6. The tilt detector of claim 1, wherein: the liquid (2) is transparent liquid.
7. The tilt detector of claim 1, wherein: the controller (6) can adopt a single chip microcomputer or an ARM processor.
8. A tilt angle detection method using the tilt angle detector according to any one of claims 1 to 7, the tilt angle detection method comprising:
step 1: the controller (6) controls the laser emitting tube (3) to emit laser to irradiate the light sensing tube (4), and the light sensing tube (4) generates induction current;
step 2: in the laser transmitting tube axial array, the index number of the laser transmitting tube (3) is set to be N, N belongs to {1,2, …, N }, the laser transmitting tubes (3) are axially distributed from front to back according to the index number, and the photosensitive tube (4) corresponds to the laser transmitting tube (3); due to the attenuation effect of the liquid (2) on light, the output currents of the 1 st to the N-1 th photosensitive tubes (4) are gradually reduced, the output currents of the N th to the N th photosensitive tubes (4) are the minimum and equal, and the photosensitive tubes (4) N are critical photosensitive tubes (4); the controller (6) obtains the dip angle according to the index number of the critical photosensitive tube (4), and the functional relation between the index number n of the photosensitive tube (4) and the dip angle theta is expressed as follows:
Figure FDA0002703155830000021
d is the distance between adjacent laser emitting tubes (3); when the angle of inclination theta is zero, liquidThe distance between the surface and the top of the cylindrical cavity is b0The horizontal width of the cylindrical container (1) is a0。
9. The tilt angle detection method according to claim 8, wherein: the method also comprises the following steps before the step 1: the controller (6) controls the pressure sensor (5) in the pressure sensor semi-annular array to detect the hydraulic pressure of each laser emission tube (3) in the emission tube semi-annular array to obtain the vertical height of each laser emission tube (3) from the liquid level, and the controller (6) controls the laser emission tube (3) at the position of the maximum depth of the liquid (2) in the emission tube semi-annular array to be in an open state, and the rest of the laser emission tubes are in a closed state.
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112902879A (en) * 2021-03-17 2021-06-04 徐州市昱威电子科技有限公司 Engineering machinery tilt angle sensor based on internet of things technology
CN113945199A (en) * 2021-09-30 2022-01-18 广东石油化工学院 Dangerous goods transport vehicle hydraulic detection method and system based on attitude detection

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US5425179A (en) * 1993-10-22 1995-06-20 The Charles Machine Works, Inc. Optical sensor for measuring inclination angles
JPH07190762A (en) * 1993-12-27 1995-07-28 Nikon Corp Inclination sensor
JPH09229687A (en) * 1996-02-21 1997-09-05 Nikon Corp Automatic inclination correcting apparatus
JPH10176924A (en) * 1996-12-19 1998-06-30 Alps Electric Co Ltd Level sensor and laser-marking display
JP2005233918A (en) * 2004-01-23 2005-09-02 Meisei Electric Co Ltd Clinometer
CN1948903A (en) * 2006-11-10 2007-04-18 苏州大学 2D levelness measuring method and apparatus thereof
CN101825461A (en) * 2010-02-10 2010-09-08 浙江工业大学 Platform leveling device based on cylindrical model

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Publication number Priority date Publication date Assignee Title
US5425179A (en) * 1993-10-22 1995-06-20 The Charles Machine Works, Inc. Optical sensor for measuring inclination angles
JPH07190762A (en) * 1993-12-27 1995-07-28 Nikon Corp Inclination sensor
JPH09229687A (en) * 1996-02-21 1997-09-05 Nikon Corp Automatic inclination correcting apparatus
JPH10176924A (en) * 1996-12-19 1998-06-30 Alps Electric Co Ltd Level sensor and laser-marking display
JP2005233918A (en) * 2004-01-23 2005-09-02 Meisei Electric Co Ltd Clinometer
CN1948903A (en) * 2006-11-10 2007-04-18 苏州大学 2D levelness measuring method and apparatus thereof
CN101825461A (en) * 2010-02-10 2010-09-08 浙江工业大学 Platform leveling device based on cylindrical model

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112902879A (en) * 2021-03-17 2021-06-04 徐州市昱威电子科技有限公司 Engineering machinery tilt angle sensor based on internet of things technology
CN112902879B (en) * 2021-03-17 2022-09-06 徐州市昱威电子科技有限公司 Engineering machinery tilt angle sensor based on internet of things technology
CN113945199A (en) * 2021-09-30 2022-01-18 广东石油化工学院 Dangerous goods transport vehicle hydraulic detection method and system based on attitude detection
CN113945199B (en) * 2021-09-30 2023-08-22 广东石油化工学院 Dangerous goods transportation vehicle hydraulic pressure detection method and system based on gesture detection

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